CN112212842A

CN112212842A - High-speed railway straightway multimode AI precision measurement robot

Info

Publication number: CN112212842A
Application number: CN202011109683.6A
Authority: CN
Inventors: 范先铮; 王文庆
Original assignee: China Railway Shanghai Design Institute Group Co Ltd
Current assignee: China Railway Shanghai Design Institute Group Co Ltd
Priority date: 2020-10-16
Filing date: 2020-10-16
Publication date: 2021-01-12
Anticipated expiration: 2040-10-16
Also published as: CN112212842B

Abstract

The invention relates to the technical field of high-speed rail operation period accurate measurement networks, in particular to a high-speed rail straight-line section multimode AI accurate measurement robot which is characterized in that: the intelligent electronic level comprises an AI host control end, a miniature electronic level, a miniature total station, a Beidou GNSS receiver, a metal light steel frame and a motion device, wherein the miniature electronic level and the miniature total station are installed in the metal light steel frame, the Beidou GNSS receiver is installed above the metal light steel frame, the metal light steel frame is installed above the motion device, and the AI host control end is connected and controls the miniature electronic level, the miniature total station, the Beidou GNSS receiver and the motion device. The invention has the advantages that: the method gets rid of manual intervention of the traditional surveying and mapping, realizes automatic measurement without manual intervention in a high-speed rail precision measurement network project, and only needs to select a corresponding measurement module for manual operation.

Description

High-speed railway straightway multimode AI precision measurement robot

Technical Field

The invention relates to the technical field of high-speed rail operation period accurate measurement nets, in particular to a high-speed rail straight-line section multimode AI accurate measurement robot.

Background

The measurement of a rail control network of a high-speed rail operation line is difficult to implement, a plurality of special sections exist, operation must be carried out in skylight points, all work must be established on the premise that existing lines are safe to drive and stable operation of a motor train unit is guaranteed, and the project characteristics of the type are safety control, data accuracy and high precision. In order to ensure safe, stable and reliable operation of the high-speed railway, accurate measurement network retest and basic deformation monitoring are required to be carried out on the operating high-speed railway according to requirements of an operating high-speed railway basic deformation monitoring management method, an operating high-speed railway accurate measurement control network management method and the like. The accurate measurement network plane re-measurement comprises offline CPI re-measurement, online CP II re-measurement and CP III plane re-measurement, and the online accurate measurement network height re-measurement is the height measurement of an online CP III control network on the premise of synchronously establishing an offline settlement reference network.

The method is characterized in that horizontal displacement and settlement of monitoring points (CPI, on-line CPII and CPIII) are periodically monitored, the CPI or on-line CPII operation is freely set by a GNSS receiver or a total station for carrying out measurement, and whether the change occurs or not is judged by comparing the periodic change. The on-line CPIII adopts the automatic monitoring of total station corner intersection, adopts the measuring prism as the observation object of deformation monitoring point, and whether this section along the high-speed railway has obviously changed through the relative change volume study judgement during the observation. The CPIII elevation adopts an electronic level gauge, an indium tile ruler is adopted as an observation object of a deformation monitoring point, and whether the section is settled or not is judged through relative change in the observation period. If the three types of the equipment have larger deformation, the equipment management unit is informed to take line safety maintenance measures as soon as possible.

The conventional operation modes and processes of the high-speed rail precision measurement network CPI, the online CPII, the CPIII plane and the elevation retest are summarized as follows:

1. the CPI and online CP II control network is observed by using GNSS, a double-frequency GNSS receiver with qualified accuracy not lower than 5mm +/-1 ppm is adopted for measurement after verification, and the network is constructed in a side connection mode to form a strip network consisting of triangles or geodess. At the starting point, the terminal point of the line or the connection section with other line plane control networks, 2 or more CP I and CP II control points are required to coincide. In a conventional operation mode, after the GNSS receiver is placed at the point, the base is centered and leveled, the height of the antenna is measured and recorded by the steel ruler, and then the GNSS receiver is started to observe, as shown in figure 1.

2. The distance between free measuring stations observed by the CP III plane network in the high-speed rail precision measurement network retest process is generally about 120 m, and the farthest observation distance from the free measuring stations to a CP III point is not more than 180 m; each CP III point at least needs to ensure the direction and distance observed quantity of 3 free measuring stations, serial numbers 1-12 are deformation monitoring points, a traditional prism is placed on the point position, and the direction of the prism must point to an instrument along the straight line direction, as shown in figure 2.

The instrument needs to measure the next station at the point B after measuring the monitoring point at the point A, the directions of four prisms at the

point

5, 6, 7 and 8 need to change along with the measuring station due to the change of the measuring station A to the measuring station B, the conventional method solves the problem by manually intervening to manually rotate the orientation of the prisms, the operation time of a skylight of an operation line is short, the operation time is wasted, and the operation efficiency is influenced.

3. The CP III control network leveling adopts a rectangular ring single-pass leveling network or a round-trip measuring water level line network construction observation, and a leveling schematic diagram is shown in figure 3. When the CP III leveling net is connected with the on-line leveling base point, the back measurement is carried out according to the leveling requirement of the corresponding grade.

Disclosure of Invention

The invention aims to provide a high-speed rail straight-line section multimode AI precision measurement robot, which integrates a GNSS receiver, a level gauge and a total station into a whole and is divided into three modules: the automatic leveling module for the line or the track control network, the plane measurement module for the track control network (CPIII) and the plane measurement module for the foundation or the line control network (CPI, CPII) realize the automatic measurement without manual intervention.

The purpose of the invention is realized by the following technical scheme:

the utility model provides a high-speed railway straightway multimode AI essence surveys robot which characterized in that: the intelligent electronic level comprises an AI host control end, a miniature electronic level, a miniature total station, a Beidou GNSS receiver, a metal light steel frame and a motion device, wherein the miniature electronic level and the miniature total station are installed in the metal light steel frame, the Beidou GNSS receiver is installed above the metal light steel frame, the metal light steel frame is installed above the motion device, and the AI host control end is connected and controls the miniature electronic level, the miniature total station, the Beidou GNSS receiver and the motion device.

Indium tile ruler loaders are respectively arranged on the periphery of the moving device, an indium tile ruler with a UWB sensing transmitter is arranged in each indium tile ruler loader, and four indium tile rulers are arranged in a rectangular ring form.

A horizontal base is arranged between the metal light steel frame and the movement device, a rotary motor and a horizontal bubble are arranged on the horizontal base, and the rotary motor is in transmission connection with the metal light steel frame through a rotating bearing and is connected and controlled by the control end of the AI host machine so as to realize the collimation direction of the miniature electronic level; the horizontal bubble is used for judging the horizontal state of the miniature electronic level.

Still include level spiral ware and screwed connection rotating device, the level spiral ware sets up the both sides of miniature electronic level, the screwed connection rotating device sets up the bottom of miniature electronic level, the level spiral ware with the screwed connection rotating device by AI host computer control end connection control precession is screwed up, is used for realizing installing in the light steel frame of metal miniature electronic level's gesture is fixed.

The miniature total station is provided with a multi-bit nano light sensation storage surface, the multi-bit nano light sensation storage surface is connected with a light control unit, and the light control unit is connected with and controls a rotating motor through an AI host controller so as to adjust the orientation of the miniature total station.

The intelligent terminal comprises an AI host computer control end, and is characterized by further comprising an OLED touch screen and a fingerprint starting button, wherein the fingerprint starting button is in signal connection with the OLED touch screen, and the OLED touch screen is connected with the AI host computer control end to realize man-machine interaction.

And a plurality of sections of rain-proof lifting devices are arranged on two sides of the movement device.

The moving device is provided with a camera, and the camera can realize information interaction through data connection.

And a temporary storage cabinet for storing the prism matched with the miniature total station is arranged on the movement device.

And the motion device is provided with an anti-collision alarm.

The invention has the advantages that:

1) the method gets rid of manual intervention of the traditional surveying and mapping, realizes automatic measurement without manual intervention in a high-speed rail precision measurement network project, and only needs to select a corresponding measurement module for manual operation.

2) The operation process innovation of accurately measuring the net project in the high-speed rail operation period is achieved by solving the problem of retesting CPI or on-line CPII plane and elevation without manual intervention in the high-speed rail operation monitoring.

3) The multiple measurement autonomous modes of different application and measurement scenes are switched, the accuracy of retesting field data acquisition of the precision measurement network in the high-speed rail operation period is enhanced, the wind control safety in the field implementation process is ensured, and the actual measurement production efficiency is improved.

4) The CPIII point leveling device has the advantages that manual leveling of the CPIII point is avoided, the operation efficiency is improved, and labor and cost are reduced.

5) The automatic observation of the instrument is realized by adopting light control, the manual rotation caused by traditional human intervention is avoided, the operation time of the skylight of the operation line is short, the operation time is saved, and the operation efficiency is influenced.

6) The centering and leveling are visually carried out in a touch screen mode, the poor measurement error of the external environment is avoided, and the measurement precision of a basic control network is optimized.

Drawings

FIG. 1 is a diagram illustrating a conventional GNSS field measurement method;

FIG. 2 is a schematic diagram of a conventional measurement mode of operation of a high-speed rail during operation;

FIG. 3 is a schematic view of a conventional rectangular ring single pass CPIII leveling net measurement observation;

FIG. 4 is a functional diagram of a robot mobile station fixed point location in accordance with the present invention;

FIG. 5 is a schematic diagram of the distance between the robot and the base station in the present invention;

FIG. 6 is a schematic diagram of a node to be tested and two corresponding base station pitch angles in the present invention;

FIG. 7 is a schematic diagram of direction angle prediction in the present invention;

FIG. 8 is a schematic view of the upper structure of the robot according to the present invention;

FIG. 9 is a schematic view showing the lower structure of the robot according to the present invention;

FIG. 10 is a specification table for leveling observations;

FIG. 11 is a hierarchy plane requirements table;

FIG. 12 is a table of the level requirements for each grade;

fig. 13 is a CPIII plane measurement parameter requirement table.

Detailed Description

The features of the present invention and other related features are described in further detail below by way of example in conjunction with the following drawings to facilitate understanding by those skilled in the art:

as shown in fig. 1-13, the labels 1-33 are respectively shown as: the device comprises a Beidou GNSS receiver 1, a function button 2, a metal light steel frame 3, a micro electronic level 4, a level screw 5, a multi-bit nanometer polished rod storage surface 6, a screw connection rotator 7, a horizontal bubble 8, a horizontal base 9, a separation interface 10, a rotary motor 11, a micro total station and an objective lens 12, a total station rotating bearing 13, a lens 14, a Beidou GNSS receiver connector 15, an indium tile ruler loader 16, a multi-section rain-proof riser 17, an ultra wide band indium tile ruler 18, a camera 19, a fingerprint startup button 20, an AI host computer control end 21, an IMU inertial measurement unit 22, a light control unit 23, an anti-collision alarm 24, a track roller, a leveling ruler lifting controller 25, a three-in-one element 26, a track roller 27, a laser 28, a CPI or on-line CPI measuring point 29, a crawler 30, a motion device 31, a lithium battery 32 and an OLED touch screen 33.

Example (b): in this embodiment, the high-speed rail straight-line segment multimode AI precision survey robot integrates the GNSS receiver, the level gauge and the total station into a whole, and is divided into three modules: the automatic leveling module of the line or the track control network, the plane measurement module of the track control network (CPIII) and the plane measurement module of the foundation or the line control network (CPI, CPII) get rid of the manual intervention of the traditional surveying and mapping, realize the automatic measurement without the manual intervention in the high-speed rail precision measurement network project, and the manual operation only needs to select the corresponding measurement module. The following describes the multimode AI precision measurement robot in this embodiment with reference to the measurement principle and the corresponding operation method, specifically as follows:

automatic level of line or track control network

The core technical essential of the multimode AI precision measurement robot in this embodiment is that the robot finds the fixed point position (suitable distance from the leveling rod) and observes automatically (the self-rotation is towards the leveling rod suitable angle after the surveyor's level is reformed transform). Based on the above points, this embodiment utilizes china beidou satellite navigation system as mainstream outdoor positioning navigation, and positioning accuracy can reach the meter level under the open environment along the high-speed railway, satisfies the precision requirement that the robot starts automatic surveyor's level and independently fixes a point and confirm the position of surveying. Meanwhile, a reference station positioning sensor is arranged on the leveling rod, the Ultra Wide Band (UWB) technology is utilized to obtain the approximate coordinates of each leveling rod, the position to be determined and measured of the robot at a certain reasonable distance meeting the level requirement is obtained through inverse calculation of the approximate position coordinates of the leveling rods, the position is changed centrally all the time according to the position change of the leveling rod base station, for example, after the measurement of the station is finished, the leveling rod base station moves and stops moving, the robot can find the accurate position again according to the latest leveling rod position to perform the positioning, and then the preparation in the early stage of the measurement is completed. And after the fixed point begins to be measured, reversely calculating a proper angle according to the coordinate relation between each leveling rod and the fixed point of the robot, so that the leveling instrument carried by the robot can freely rotate according to the angle value obtained by the output end. The rotation of the whole instrument is realized by a rotary motor and an AI host control end. Meanwhile, a tunnel section (a difficult section) along a high-speed rail cannot receive Beidou satellite signals, the signal loss or abnormity in UWB technology positioning needs to be overcome to a certain extent, accumulated errors can be reduced in the positioning process of a strapdown inertial navigation system utilizing an ultra-wideband (UWB) technology and an Inertial Measurement Unit (IMU), the robot can independently keep the attitude in the tunnel to advance and control the fixed-point position accuracy of the robot, the robot only utilizes the position fixed point of the robot, the high requirement on non-precise measurement of the accuracy requirement is met, and the errors are allowed to be controlled in a meter level (about 1-2 meters).

The invention adopts a navigation coordinate system, the coordinate system used by the indoor positioning system during navigation needs to select a proper coordinate system in different application scenes and environments to serve navigation, and the position coordinates are relative coordinates.

The principle of the robot finding a fixed point position (a proper distance from a leveling rod) is as follows: the conventional leveling measurement selects corresponding levels through a module, and according to the requirement of 'high-speed railway engineering measurement specification', the system automatically sets the leveling limit difference of each level according to the specific basis as shown in figure 10.

Aiming at the distance from a passing point to a point of a special rectangular ring level elevation transmission passing point of a high-speed rail CPIII elevation, a reference station is installed on a leveling rod, the approximate position of a mobile station (robot) can be calculated reversely by the signal position of the reference station, and the fixed-point measurement of the robot is satisfied. The principle of the pointing position function is shown in fig. 4.

Meanwhile, the following conditions need to be satisfied:

relative coordinate of A (X)₁,Y₁) Relative coordinates of B (X)₂,Y₂) Relative coordinate of C (X)₃,Y₃) Relative coordinate of D (X)₄,Y₄) The 4 leveling rod base stations take proper positions to fix points (move the points to be measured) for the robot, and signals are required to be sent between the points to be measured and the base stations by utilizing a TOA algorithm and are stamped. Therefore, the method has higher requirements on the clock of the whole system, particularly the clock synchronization of the mobile node to be tested and the base station. And obtaining the propagation time t of the ultra-wideband signal between the base station and the node to be measured from the time stamp, wherein the light speed c is a known constant, and the distance d between each base station and the node to be measured can be easily obtained through a speed displacement formula d = c × t.

The schematic diagram of the algorithm is shown in fig. 5, A, B, C, D, in which the distance d between the mobile robot and the base station is used as the center of the circle_A、d_B、d_C、d_DThe radius is rounded. Ideally, the coordinate point of the mobile node M (robot) to be measured is the intersection of the four circles. However, under the actual error environment, the intersection point of four circles may be more than one, so that the intersection point needs to be determinedAnd (4) establishing a simultaneous equation set of N (N is more than or equal to 4) base stations for adding redundancy items.

Principle of automatic observation (self-rotation towards the leveling rod with proper angle after the level gauge is transformed):

the incident angle of the node to be measured relative to the base station can be measured by the antenna array, as shown in fig. 5, two base stations a and B are provided, and the coordinates are (x) respectively_i，y_i) (i =1, 2), measuring robot fixed points (nodes under test) M (x, y) at base station points a and B, respectively

1 and

2, if rays are made along the two directions, the position of the moving node M to be detected is the intersection point of the two non-parallel rays. Coordinates of node M to be tested, base station nodes A and B and angle relative to base station

1 and

2 has the following relationship, as shown in fig. 6.

On a two-dimensional plane, two non-parallel lines necessarily intersect with one point, but in a three-dimensional positioning environment, only the azimuth relationship between the mobile node to be detected and two base stations is known, the spatial position of the mobile node to be detected and the two base stations is not enough to be solved, and the pitch angle information of the mobile node to be detected and the two base stations is required to be known.

Second, track control net (CPIII) plane measurement

When the robot performs plane measurement on a track control network (CPIII), the top of the track is horizontally placed after the trolley roller is started, and the low friction of the track is utilized to ensure the measuring speed.

The total station instrument end has light-operated induction, a focusing strong light can be arranged on the prism end, the strong light is provided with a numerical control illuminometer, the intensity can be freely adjusted according to the illumination requirement value, when the robot is positioned at a certain measuring station, the standard illumination value of the strong light of the prism is adjusted to 300Lx on site, then the standard illumination value is aligned with the robot (the illumination value of the light source under the rotation condition controlled by the total station instrument is 250 and 350 Lx), the 300Lx meets the range of the rotation condition 250 and 350Lx, and after the control end of the total station instrument identifies all prisms of the illumination, the simulation scene of the measuring station is established, as shown in figure 7.

The total station end is provided with the light-operated induction material as the multi-bit nano memory (bismuth ferrite), and the light-operated induction of the material can reduce the rotation delay time after the illumination is read and greatly accelerate the transmission speed of calculation information. The data signals are converted by the receiving light source, the data signals are fed back to the total station base by the robot control end to drive the rotary motor, and the automatic rotation command is executed by the AI host control end. Wherein the data command is that the light-controlled sensing material multi-bit nano memory (bismuth ferrite) receives the light source direction angle predicted value theta, and the angle predicted value theta is set to be in a range of 30 degrees to 90 degrees in the direction of three pairs of CPIII measuring points (about 150 meters) through reverse calculation, as shown in FIG. 7.

By angle prediction

Output to the robot control end, and the control end uses the angle predicted value

Command the base motor to generate a rotation direction index suitable for the illumination angle force

For example, in FIG. 2, to realize the rotation from point 7 to point 3, the angle prediction value of point 7

Predicted value of point angle No. 3

Then, then

After the rotating motor receives the signal, the rotating motor takes the integral rotating direction of the total station as an index

Rotate to reach the automatic rotation effect.

Three, basic or line control network (CPI, CPII) plane measurement

Leading the current results of the CPI and the CPII to be tested into a robot control center end, placing the robot near the point position after the personnel arrive at the site, and enabling the robot to independently search to be static according to the leading-in results on site. After the point location search is completed, the robot can independently lift the base plate, and the center axis of the robot is close to the point location. After the robot is slightly moved, the laser is opposite to the center of the point position, the base end is leveled, and the static GNSS receiver applying and measuring condition is met.

The condition of the site measuring point can be fed back to the touch display screen through the light emitter and the camera, and if the specific point position image cannot be seen on the touch screen after the lower end of the robot is covered, the control end can prompt a measurer to manually adjust the point position on the touch screen until the point position is completely covered. The principle that laser is just aligned to the center of a point position is as follows: if the laser is not directly irradiated to the cross wire of a measuring point (CPI, on-line CPII) at the lower end of the centering device through the laser centering device, the sensitivity is selected for the touch screen, the lower the sensitivity is, the lower the amplitude of the centering process of the instrument is, the higher the centering precision is until the laser and the cross wire are in a perpendicular line state, and the preparation work of the measuring condition is completed.

Finally, according to the grade plane requirement (as shown in fig. 11), the corresponding grade is selected, and the robot can control the working time according to the standard grade. The machine can be automatically closed after the data acquisition is finished, so that the phenomenon that the machine is manually shut down improperly or forgets to shut down at regular time is avoided.

In operation, the present embodiment, as shown in fig. 8 and 9, has the following operation modes:

firstly, the multimode AI precision measurement robot in the water loss is only improved aiming at the operation maintenance and measurement operation mode of the high-speed rail, and is limited only in the straight line section interval along the high-speed rail, the robot can be used for realizing mapping without manual intervention, so that most of manual workload of high-speed rail operation measurement is greatly reduced, and good conditions are created for lowering labor and lowering cost of the whole project.

Secondly, all operation commands are executed by the AI host control end 21, and all function visualizations are performed by the OLED touch screen 33 for human-computer interaction with a measurement operator. The AI host control end 21 has three modes and corresponding main instruments as follows:

1. automatic measurement of CPIII elevation: a miniature electronic level 4;

2. CPIII plane automatic measurement: a miniature total station 12;

3. CPI or on-line CPII are automatically measured: big dipper GNSS receiver 1.

As shown in fig. 8, the miniature electronic level 4 and the miniature total station 12 are installed inside the frame body of the metal light steel frame 3, the metal light steel frame 3 plays a role in protecting the miniature electronic level and the miniature total station 12, and the Beidou GNSS receiver 1 is erected at the top of the metal light steel frame 3 through the Beidou GNSS receiver connector 15 so that the Beidou GNSS receiver and the miniature total station can be detached, and meanwhile, the smoothness of received signals is ensured. A function button 2 for controlling the Beidou GNSS receiver 1 is arranged on one side, and the function button 2 generally comprises a starting up key, a satellite key and a recording key.

Fig. 8 shows an upper instrument of the multimode AI precision measurement robot in the present embodiment, and fig. 9 shows a lower body, the upper instrument is disposed above the lower body, and the lower body is a moving device. The lithium battery 32 supplies power to the whole multimode AI precision measurement robot.

After the operator passes through the fingerprint power-on button 20, the AI host control terminal 21 receives the power-on signal of the fingerprint power-on button 20 through signal connection, and the OLED touch screen 33 is lighted up and prompts the operator to select the three modes on the touch screen. After selecting the designated mode, the AI host control end 21 switches to turn on the corresponding instrument for subsequent operations.

When the mode is switched to the automatic measurement of CPIII elevation flow operation steps:

1) miniature electronic level 4, big dipper GNSS receiver 1 can be awaken up, can pop out the operation touch interface that miniature electronic level 4 corresponds on the OLED touch-sensitive screen 33 and make things convenient for the operator manual work to intervene, and the personnel can select the required grade of surveying the level of executing through the screen, and the procedure can be carried out instrument end according to leveling's grade and is looked at the rotation mode control behind the levelling rod, and concrete rotation reference standard is shown in fig. 12.

Meanwhile, the robot retracts the track rollers and the leveling rod lifting controller 25, the crawler belt 30 is started, the crawler belt is a main advancing mode of the robot in leveling operation along the high-speed rail, the mode is designed aiming at difficult sections along the high-speed rail, and the robot can be suddenly changed in the line or still keep a stable posture to advance when encountering a convex arc obstacle.

2) The AI host control end 21 controls the leveling screw 5 to be screwed with the screw connection rotator 7 automatically, so that the micro electronic level 4 keeps a fixed posture. Level auger 5 and screwed connection rotating device 7 run through metal lightweight steel 3 and arrange, and level auger 5 and the precession end of screwed connection rotating device 7 all towards miniature electronic level 4, thereby level auger 5 and screwed connection rotating device 7 can be towards miniature electronic level 4 precession and realize the fixed to its position state promptly.

3) The mode of the Beidou GNSS receiver 1 is automatically switched to fast positioning after being started, and the main purpose is to reversely calculate the position coordinates of the robot and transmit the position coordinates to the AI host control end 21.

4) Putting down the ultra wide band indium tile ruler 18, the ultra wide band indium tile ruler 18 is combined with the indium tile ruler through the modification of the self-contained UWB sensing emitter, meanwhile, the indium tile ruler is designed to be two-section type and is conveniently placed in the indium tile ruler loader 16, and the indium tile ruler loader 16 is installed at the periphery of the moving device.

5) Indium tile chi loader 16 is similar with the robot arm, and its main function places ultra wide band indium tile chi 18, possesses the lifting and descending function simultaneously under the drive of track gyro wheel, levelling rod lift controller 25, and the purpose is when doing off-line CPI or on-line CPI increase ground contact area and promote robot overall stability.

The number of the indium tile ruler loaders 16 is 4, four ultra-wideband indium tile rulers 18 are horizontally placed on a CPIII measuring point in a rectangular ring mode, an assembled ultra-wideband sensing transmitter can obtain distance measurement and angle measurement data information of the ruler and the robot by transmitting nanosecond or microsecond narrow pulses, the time resolution is high, centimeter-level positioning service can be brought, and the precision can completely meet the requirement that a level is resolved. Firstly, the robot can always position the main body of the ultra-wideband indium tile ruler 18 at the central position of a rectangular ring according to the distance measurement of the ultra-wideband indium tile ruler 18 (the position is a theoretical value and is fed back to the robot), the position coordinate of the ultra-wideband indium tile ruler 18 is modulated and transmitted to the robot in a spread spectrum mode according to a UWB signal, the robot starts the measurement trend of the IMU inertial measurement unit 22, keeps the linear posture to advance, and reaches the position close to the theoretical coordinate value of the central position (the error is 1 m).

Secondly, by judging whether the length of the selected grade leveling line is met (the specific parameter needs to be shown in the table), after the requirement is met, the control end can instruct the rotating motor 11 to rotate the lens 12 of the micro electronic level 4 to the angle of the ultra-wideband indium tile ruler 18 to be aligned, the micro electronic level 14 further starts to align the reading of the ultra-wideband indium tile ruler 18, and the whole set of automatic rotation and alignment of the level are realized. The rotary motor 11 is arranged in the horizontal base 9 below the metal light steel frame 3, and the horizontal base 9 is used as a connecting part between the metal light steel frame 9 and the lower moving device.

6) The separation interface 10 is used for connecting and electrifying the whole upper instrument with the machine body. The AI host computer control end 21 can independently adjust whether the miniature electronic level 4 is leveled, if the horizontal bubble 8 is centered and meets the requirement, the miniature electronic level 4 can be tested. The judgment of the horizontal bubble 8 can be realized by adopting the conventional robot vision technology.

7) The robot power mode is as follows: the AI host control end 21 interacts with the moving device, the crawler belt 30 is driven by the motor advancing system, and the robot advances at a fixed point at the speed of 2 m/s. A prism temporary storage cabinet is also provided at the motor advancing system position, that is, a prism temporary storage cabinet 31 constituting the motor advancing system shown in fig. 9.

When the mode is switched to the automatic measurement of the CPIII plane, the flow operation steps are as follows:

1) miniature total powerstation 12, big dipper GNSS receiver 1 can be awaken up, can pop up the operation touch interface that miniature total powerstation 12 corresponds on the OLED touch-sensitive screen 33 and make things convenient for the operator manual work to intervene, and the personnel can carry out the survey main line CPIII operation mode of need through the screen selection, and the procedure can be according to CPIII field measurement accuracy grade carry out the instrument end and aim at behind the prism, to unqualified automatic re-survey measure of taking of field, specific parameter as shown in fig. 13.

2) The AI host control end 21 controls the total station rotary bearing 13 to turn over the instrument after a survey is finished, at this time, the spiral connection rotator 7 is automatically released and rotates according to the rotation of the rotary motor 11, the rotation of the rotary motor 11 is mainly named and executed by the program of the AI host control end 21, and in conclusion, the micro total station 12 is kept linked with the total station rotary bearing 13 and the spiral connection rotator 7, so that the orientation of the micro total station 12 is adjusted.

3) Under the mode of 'CPIII plane automatic measurement', the crawler 30 can be automatically retracted, and the track rollers 27 adjust the width according to the distance between the steel rails, so that the robot integrally and automatically advances on the steel rails. The robot fixed point mode under the mode of 'CPIII plane automatic measurement' is different from the mode of 'CPIII elevation automatic measurement', wherein the principle that strong light is configured on the prism, the multi-bit nano light-sensitive storage surface 6 configured at the end of the micro total station receives illumination, the light is distinguished through the specific illumination of the light control unit 23, and the prism light source is distinguished from other light sources is explained. After receiving the approximate position information of the prism (with illumination), the robot can simulate a CPIII plane scene, a third prism pair and a fourth prism pair can be arranged at a proper position, and the distance is not required due to the fact that a free station setting method is adopted for the CPIII plane. When the robot automatically advances on the steel rail and reaches between the third and fourth pairs of prisms, the angle is calculated according to the light source of the simulation scene, the approximate position of each prism is determined, the collimation precision is about 3-5 degrees, after the conditions are met, the miniature total station 12 can independently complete leveling at a fixed point according to the program requirements, the CPIII prism can be freely observed, the observation process of the total station is conventional, and the explanation is omitted here.

4) The robot power mode is as follows: the AI host control end 21 interacts with the motor advancing system, and the roller is driven by the motor to complete the fixed-point advance of the robot at the speed of 3 m/s.

When the mode is switched to the CPI or the CPII automatic measurement on the line, the flow operation steps are as follows:

1. the Beidou GNSS receiver 1 can be awakened, an operation touch interface corresponding to the GNSS receiver can be popped up on the OLED touch screen 33, so that an operator can conveniently intervene manually, the operator can select the required measurement types (CPI and CPII) through the screen, the program can carry out the operation duration planning according to the level of the plane control field measurement, and the specific parameters are set forth.

2. The robot has a searching function, the approximate actual geographic information can be judged by interactively leading in the CPI of the previous period or the CPI measuring point position on the line through the Bluetooth and the AI host control end 21, and the robot is pulled by specifically finding the point position with manual assistance after the point position is close to the point position. After fixing the point, the leveling rod lifting controller in the robot track roller and leveling rod lifting controller 25 falls to the point horizontal plane to fix the body, at this time, a three-in-one element 26 composed of a laser centering device, a light emitter and a micro camera emits laser 28 to perform centering operation with a CPI or an online CPII measuring point 29, the light emitter illuminates a bottom point measuring point, the micro camera transmits bottom point information to the AI host control end 21, the AI host control end 21 projects picture information to the OLED touch screen 33, at this time, point correction is performed through human intervention, a picture of the touch screen has a circle center, and the circle center is the standard whether the laser and the point are on the same vertical line or not, and is also the center position of the Beidou GNSS receiver 1. And manually sliding the touch screen for fine adjustment to enable the point position to be at the same position as the center of the screen circle, and further selecting automatic leveling operation at the touch screen end.

3) Finally, the start measurement option is selected and the robot starts to automatically measure the CPI or the on-line CPII.

In order to further ensure the use of the multimode AI precision measurement robot, the following functions are also arranged:

1) the multi-section rain-proof lifting and shrinking device 17 is a two-section rain-proof device, the main material is plastic, when the system meets severe weather such as rainy days or snowy days, the system can automatically start the function, the first section is lifted and is parallel to the indium tile ruler loader 16, then the second section is vertical to the first section, and the second section is a rain-proof main barrier.

2) When the robot is far away from an operator, the Bluetooth is started through the camera 19 (with night vision) to interact with the mobile phone, the field situation can be visually known at the mobile terminal of the mobile phone, and the robot can be found out at the first time when meeting special situations in difficult places to start an emergency plan.

3) The temporary prism storage cabinet 31 can collect the recovered prisms after the operation is finished, so that the operation group can conveniently enter and exit the high-speed rail service passage.

4) If the robot cannot pass in a difficult area, the anti-collision alarm 24 is started, the alarm generates sound with the frequency of 400 Hz to remind field personnel, and the robot is adjusted by manual intervention at the moment.

Although the conception and the embodiments of the present invention have been described in detail with reference to the drawings, those skilled in the art will recognize that various changes and modifications can be made therein without departing from the scope of the appended claims, and therefore, they are not to be considered repeated herein.

Claims

1. The utility model provides a high-speed railway straightway multimode AI essence surveys robot which characterized in that: the intelligent electronic level comprises an AI host control end, a miniature electronic level, a miniature total station, a Beidou GNSS receiver, a metal light steel frame and a motion device, wherein the miniature electronic level and the miniature total station are installed in the metal light steel frame, the Beidou GNSS receiver is installed above the metal light steel frame, the metal light steel frame is installed above the motion device, and the AI host control end is connected and controls the miniature electronic level, the miniature total station, the Beidou GNSS receiver and the motion device.

2. The high-speed rail straight-line section multimode AI precision measurement robot as claimed in claim 1, wherein: indium tile ruler loaders are respectively arranged on the periphery of the moving device, an indium tile ruler with a UWB sensing transmitter is arranged in each indium tile ruler loader, and four indium tile rulers are arranged in a rectangular ring form.

3. The high-speed rail straight-line section multimode AI precision measurement robot as claimed in claim 1, wherein: a horizontal base is arranged between the metal light steel frame and the movement device, a rotary motor and a horizontal bubble are arranged on the horizontal base, and the rotary motor is in transmission connection with the metal light steel frame through a rotating bearing and is connected and controlled by the control end of the AI host machine so as to realize the collimation direction of the miniature electronic level; the horizontal bubble is used for judging the horizontal state of the miniature electronic level.

4. The high-speed rail straight-line section multimode AI precision measurement robot as claimed in claim 1, wherein: still include level spiral ware and screwed connection rotating device, the level spiral ware sets up the both sides of miniature electronic level, the screwed connection rotating device sets up the bottom of miniature electronic level, the level spiral ware with the screwed connection rotating device by AI host computer control end connection control precession is screwed up, is used for realizing installing in the light steel frame of metal miniature electronic level's gesture is fixed.

5. The high-speed rail straight-line section multimode AI precision measurement robot as claimed in claim 1, wherein: the miniature total station is provided with a multi-bit nano light sensation storage surface, the multi-bit nano light sensation storage surface is connected with a light control unit, and the light control unit is connected with and controls a rotating motor through an AI host controller so as to adjust the orientation of the miniature total station.

6. The high-speed rail straight-line section multimode AI precision measurement robot as claimed in claim 1, wherein: the intelligent terminal comprises an AI host computer control end, and is characterized by further comprising an OLED touch screen and a fingerprint starting button, wherein the fingerprint starting button is in signal connection with the OLED touch screen, and the OLED touch screen is connected with the AI host computer control end to realize man-machine interaction.

7. The high-speed rail straight-line section multimode AI precision measurement robot as claimed in claim 1, wherein: and a plurality of sections of rain-proof lifting devices are arranged on two sides of the movement device.

8. The high-speed rail straight-line section multimode AI precision measurement robot as claimed in claim 1, wherein: the moving device is provided with a camera, and the camera can realize information interaction through data connection.

9. The high-speed rail straight-line section multimode AI precision measurement robot as claimed in claim 1, wherein: and a temporary storage cabinet for storing the prism matched with the miniature total station is arranged on the movement device.

10. The high-speed rail straight-line section multimode AI precision measurement robot as claimed in claim 1, wherein: and the motion device is provided with an anti-collision alarm.